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This commit is contained in:
Alexander Soare
2024-04-08 13:10:19 +01:00
parent 1bab4a1dd5
commit 863f28ffd8
7 changed files with 92 additions and 168 deletions
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88
lerobot/common/datasets/factory.py
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@@ -59,96 +59,10 @@ def make_dataset(
transform=Prod(in_keys=clsfunc.image_keys, prod=1 / 255.0),
)
stats = compute_or_load_stats(stats_dataset)
# TODO(rcadene): remove this and put it in config. Ideally we want to reproduce SOTA results just with mean_std
normalization_mode = "mean_std" if cfg.env.name == "aloha" else "min_max"
# # TODO(now): These stats are needed to use their pretrained model for sim_transfer_cube_human.
# # (Pdb) stats['observation']['state']['mean']
# # tensor([-0.0071, -0.6293, 1.0351, -0.0517, -0.4642, -0.0754, 0.4751, -0.0373,
# # -0.3324, 0.9034, -0.2258, -0.3127, -0.2412, 0.6866])
# stats["observation", "state", "mean"] = torch.tensor(
# [
# -0.00740268,
# -0.63187766,
# 1.0356655,
# -0.05027218,
# -0.46199223,
# -0.07467502,
# 0.47467607,
# -0.03615446,
# -0.33203387,
# 0.9038929,
# -0.22060776,
# -0.31011587,
# -0.23484458,
# 0.6842416,
# ]
# )
# # (Pdb) stats['observation']['state']['std']
# # tensor([0.0022, 0.0520, 0.0291, 0.0092, 0.0267, 0.0145, 0.0563, 0.0179, 0.0494,
# # 0.0326, 0.0476, 0.0535, 0.0956, 0.0513])
# stats["observation", "state", "std"] = torch.tensor(
# [
# 0.01219023,
# 0.2975381,
# 0.16728032,
# 0.04733803,
# 0.1486037,
# 0.08788499,
# 0.31752336,
# 0.1049916,
# 0.27933604,
# 0.18094037,
# 0.26604933,
# 0.30466506,
# 0.5298686,
# 0.25505227,
# ]
# )
# # (Pdb) stats['action']['mean']
# # tensor([-0.0075, -0.6346, 1.0353, -0.0465, -0.4686, -0.0738, 0.3723, -0.0396,
# # -0.3184, 0.8991, -0.2065, -0.3182, -0.2338, 0.5593])
# stats["action"]["mean"] = torch.tensor(
# [
# -0.00756444,
# -0.6281845,
# 1.0312834,
# -0.04664314,
# -0.47211358,
# -0.074527,
# 0.37389806,
# -0.03718753,
# -0.3261143,
# 0.8997205,
# -0.21371077,
# -0.31840396,
# -0.23360962,
# 0.551947,
# ]
# )
# # (Pdb) stats['action']['std']
# # tensor([0.0023, 0.0514, 0.0290, 0.0086, 0.0263, 0.0143, 0.0593, 0.0185, 0.0510,
# # 0.0328, 0.0478, 0.0531, 0.0945, 0.0794])
# stats["action"]["std"] = torch.tensor(
# [
# 0.01252818,
# 0.2957442,
# 0.16701928,
# 0.04584508,
# 0.14833844,
# 0.08763024,
# 0.30665937,
# 0.10600077,
# 0.27572668,
# 0.1805853,
# 0.26304692,
# 0.30708534,
# 0.5305411,
# 0.38381037,
# ]
# )
# transforms.append(NormalizeTransform(stats, in_keys, mode=normalization_mode)) # noqa: F821
transforms = v2.Compose(
[
# TODO(rcadene): we need to do something about image_keys